Feature: add VLA policy and registry for RL#186

Closed

yangchen73 wants to merge 192 commits intomainfrom

Commits on Oct 24, 2025

Initial commit
yuecideng
authored

Commits on Nov 21, 2025

Commits on Nov 22, 2025

Add tmp docs link (#3)
yuecideng
authored

Commits on Nov 23, 2025

Simple modifications to documentation (#4)

LihaoZheng-git
and
Lihao
authored

Commits on Nov 24, 2025

Commits on Nov 25, 2025

Commits on Nov 26, 2025

fix gizmo solver size mismatch (#9)

yhnsu
and
yuanhaonan
authored
Add usage documentation for DexforceW1 and CobotMagic, and optimize DexforceW1 config construction (#10)

chase6305
and
Jietao Chen
authored
Remove gizmo collision body (#11)

matafela
and
chenjian
authored
Updata docs (#12)
yuecideng
authored

Commits on Nov 28, 2025

Misc update (#17)
yuecideng
authored

Commits on Dec 1, 2025

Commits on Dec 2, 2025

FIX: fix main branch rule (#25)

kerwan-zeng
and
zengkehuan
authored

Commits on Dec 3, 2025

Commits on Dec 4, 2025

Enable unit test in workflow (#29)
yuecideng
authored

Commits on Dec 5, 2025

add solver and motion generator docs (#31)

yhnsu
and
yuanhaonan
authored

Commits on Dec 8, 2025

Add camera extrinsics randomization functor (#32)
yuecideng
authored

Commits on Dec 12, 2025

upgrade to dexsim 0.3.7 (#33)

matafela
and
chenjian
authored

Commits on Dec 14, 2025

Commits on Dec 15, 2025

Update simulation manager resources init (#37)
yuecideng
authored

Commits on Dec 16, 2025

Commits on Dec 18, 2025

Commits on Dec 20, 2025

Fix Articulation GPU issue (#44)
yuecideng
authored

Commits on Dec 21, 2025

Fix Rigid Object/Group CUDA memory issue (#46)
yuecideng
authored

Commits on Dec 23, 2025

Fix: add component type check on add_component (#50)

chase6305
and
Jietao Chen
authored

Commits on Dec 25, 2025

Add cpu num to SimulationCfg & Add some interfaces to robot (#51)
yuecideng
authored

Commits on Dec 27, 2025

Add workspace analyzer and user docs (#14)

authored

Commits on Dec 29, 2025

Upgrade dexsim to v0.3.8 (#53)
yuecideng
authored

Commits on Dec 30, 2025

Add basic physics randomization functor (#54)
yuecideng
authored

Commits on Dec 31, 2025

Support merge robot cfg from dict (#55)
yuecideng
authored

Commits on Jan 4, 2026

Support merge RobotCfg (#57)
yuecideng
authored

Commits on Jan 10, 2026

Update material randomization (#59)
yuecideng
authored

Commits on Jan 11, 2026

update recent changes (#58)

authored

Commits on Jan 12, 2026

Add LeRobot Data Handler for Dataset Export (#41)

authored

Commits on Jan 13, 2026

Change dependencies version (#62)
yuecideng
authored

Commits on Jan 15, 2026

Fix: Add CPU Version Limits Check for SRS Solver (#68)

chase6305
and
Jietao Chen
authored
Fix: srs solover cpu batch ik failed (#69)

matafela
and
chenjian
authored

Commits on Jan 16, 2026

Add Embodied Environments documentation (#64)
yangchen73
authored
fix refactor problems (#63)

yhnsu
and
yuanhaonan
authored
Add basic simulation docs (#61)

yuecideng
and
liguilong256
authored

Commits on Jan 17, 2026

Add contribution docs (#72)
yuecideng
authored

Commits on Jan 18, 2026

Add contact sensor (#23)

authored

Commits on Jan 19, 2026

Commits on Jan 22, 2026

Commits on Jan 23, 2026

add urdf collision decomposition tool kit (#83)

matafela
and
chenjian
authored
Update dataset (#87)

yhnsu
and
yuanhaonan
authored

Commits on Jan 25, 2026

Articulation support getting target qpos (#88)

authored

Commits on Jan 26, 2026

Commits on Jan 27, 2026

Match tags trigger action starting with v* (#92)

kerwan-zeng
and
zengkehuan
authored
Migrate EmbodiAgent (#82)
yangchen73
authored
articulation support NONE drive_type (#91)

matafela
and
chenjian
authored
Fix SoftObject property getter (#93)

matafela
and
chenjian
authored

Commits on Jan 28, 2026

Commits on Jan 30, 2026

add citations

liuguiliang
authored and
liuguiliang
committed
add citations

liuguiliang
authored and
liuguiliang
committed
add citations

liuguiliang
authored and
liuguiliang
committed
fix citations

liuguiliang
authored and
liuguiliang
committed
fix citations

liuguiliang
authored and
liuguiliang
committed
Update docs for installation from pypi (#104)
yuecideng
authored
add cart pole rl env (#100)

matafela
and
chenjian
authored
Change visual material setter behavior for RigidObjectGroup (#107)
yuecideng
authored

Commits on Feb 1, 2026

Support shared visual material instances (#110)
yuecideng
authored

Commits on Feb 4, 2026

Commits on Feb 5, 2026

Commits on Feb 6, 2026

Save success status before reset (#119)

authored
Add Franka FR3 (#123)

matafela
and
chenjian
authored
fix some examples (#118)

liguilong256
and
yuecideng
authored

Commits on Feb 9, 2026

Fix observation space issue for BaseEnv (#125)
yuecideng
authored

Commits on Feb 10, 2026

Commits on Feb 11, 2026

Add keyborad control to adjust camera sensor pose in simulation (#128)
yuecideng
authored

Commits on Feb 12, 2026

Suport camera group ids for batch rendering on RT backend (#108)
yuecideng
authored

Commits on Feb 14, 2026

Commits on Feb 19, 2026

Add filter dataset saving for env (#143)
yuecideng
authored

Commits on Feb 20, 2026

Update physics step update for some spatial functors (#144)
yuecideng
authored

Commits on Feb 21, 2026

Update lerobot recorder (#145)
yuecideng
authored

Commits on Feb 25, 2026

Add planner grid cell sampler (#147)
yuecideng
authored

Commits on Feb 26, 2026

Commits on Feb 27, 2026

update opw unittest (#150)

matafela
and
chenjian
authored

Commits on Feb 28, 2026

add interp trajectory with segment nums (#151)

matafela
and
chenjian
authored
Fix opw solver (#152)

authored

Commits on Mar 2, 2026

Commits on Mar 3, 2026

feat: import usd (#127)

authored

Commits on Mar 5, 2026

Commits on Mar 7, 2026

Add support for online data streaming (#160)

yuecideng
and
yangchen73
authored

Commits on Mar 9, 2026

Commits on Mar 10, 2026

Commits on Mar 11, 2026

Commits on Mar 13, 2026

Add Robotiq 85 140 DH ag95 (#177)

matafela
and
chenjian
authored
export usd (#168)

MahooX
and
xiemenghong
authored
Refactor RL rollout with collector/buffer separation and shared TensorDict (#175)
yangchen73
authored
Enhance manager docs for action, reward and dataset (#176)
yuecideng
authored

Commits on Mar 14, 2026

Commits on Mar 15, 2026

Add unit tests for all functors (#181)
yuecideng
authored

Commits on Mar 16, 2026

Commits on Mar 17, 2026

Split robot left right index in semantic mask computation (#142)

authored
support sdf collision for rigidbody (#185)

MahooX
and
xiemenghong
authored

Commits on Mar 19, 2026

Commits on Mar 20, 2026

update arx5 asset (#192)

matafela
and
chenjian
authored

Commits on Mar 22, 2026

Commits on Mar 23, 2026

Commits on Mar 24, 2026

Improve contact sensor data buffer and support save data to lerobot dataset (#197)
yuecideng
authored

Commits on Mar 25, 2026

Commits on Mar 26, 2026

feat(obs): add support for extra observations from gym_config (#205)

yuecideng
and
claude
authored

Commits on Mar 27, 2026

Commits on Apr 2, 2026

Commits on Apr 7, 2026

Merge remote-tracking branch 'origin/main' into yc/vla_rl
yangchen73
committed